Methods and apparatus for computer-aided tissue engineering for modeling, design and freeform fabrication of tissue scaffolds, constructs, and devices

ABSTRACT

One aspect of the invention provides a material delivery system including: a plurality of nozzles and one or more controllers adapted and configured to control the plurality of nozzles to simultaneously deposit heterogeneous materials including one or more cells to manufacture a part or device. Another aspect of the invention provides a method including simultaneously depositing heterogeneous materials including one more cells using a plurality of nozzles.

This patent application claims priority to U.S. Provisional patentapplication Ser. No. 60/520,272, filed Nov. 14, 2003, which is hereinincorporated by reference in its entirety.

FIELD OF THE INVENTION

The present invention provides methods and apparatus for manufacturingcomplex devices for use in areas including, but not limited to, tissueengineering, organ/cell printing, tissue scaffolds, tissue cultures,biochips, biosensors, cytotoxicity test samples, and other fields thatare currently limited by conventional methods of manufacture. Thepresent invention provides methods and apparatus which integratecomputer-aided design; Boolean, scaling, mirroring, smoothing, and/orother modifying operations; Magnetic Resonance Imaging (MRI)/ComputedTomography(CT) and other patient specific data import capabilities;heterogeneous material and multi-part assembly capabilities; biomimeticand non-biomimetic design capabilities; multiple types of nozzlescapable of handling a wide range of materials as well as multiple modesof nozzle operation such as droplet deposition, extrusion, and spraying;and/or a biologically friendly design capable of direct cell deposition,to create a very powerful and versatile manufacturing process. Further,these methods and apparatus provide for simultaneous deposition of cellswith scaffolding materials to form cell-seeded tissue substitutes.Accordingly, the methods and apparatus of the present invention permitconstruction of complex or smart tissue scaffolds capable of elicitingcomplex behaviors of cells including, but not limited, to growth,migration, differentiation, and expression. Tissue engineering scaffoldsproduced in accordance with the methods and/or using the devices of thepresent invention can also assist with the flow and transport of vitalnutrients and oxygen, and the removal of waste products required bycells seeded within the scaffolds.

BACKGROUND OF THE INVENTION

Most tissue engineering techniques basically consist of seeding a tissuescaffold or culture dish with cells that are grown in an incubator. Thescaffold fabrication and the cell seeding are two separate processes.These techniques are very limited in their level of sophistication. Thescaffolds tend to be simple structures made out of a single material,with some post-processing techniques in the slightly more complicatedscaffolds. Organized, heterogeneous cellular structures are verydifficult to create, and impossible to create at the complexity level ofan organ using standard techniques. Seeding these kinds of scaffolds maynot be enough to stimulate the cells into responding in the desiredmanner. A complex scaffold is required to elicit complex behavior from acell. A new generation of tissue scaffolds is required to take the nextstep in tissue engineering which essentially moves away from simplescaffolds toward complex scaffolds. A cell is a very sophisticatedmachine with programming built into its genetic code. A complex scaffoldtakes advantage of this built-in programming through the incorporationof various biological factors that direct cell growth, migration,differentiation, and expression. In addition, constructs can be createdthat could help with the flow and transport of vital nutrients andoxygen, and the removal of waste products.

Layered manufacturing has been suggested as being well suited to thefield of biology. This has resulted in much research being conductedwithin the field of computer-aided tissue engineering (CATE).Unfortunately, many Solid Freeform Fabrication (SFF) techniques are notbiologically friendly using techniques that cannot handle a wide rangeof wet materials, gels or solutions. Also, many SFF techniques utilizeharsh solvents, high temperatures, high pressures, and other factorsthat are not conducive to biological systems. Many SFF techniques, suchas stereolithography, fused deposition methods, and powder/binder-basedtechniques, are capable of creating tissue scaffolds, but cannotdirectly deposit cells or biological factors into the scaffold. This hasresulted in the creation of different techniques to handle direct celldeposition.

Weiss, et al. have described a method for building bone tissue scaffoldsusing SFF (Reischmann et al. Electrotechnik and Informationstechnik 20027/8:248-252; Weiss et al. Journal of Manufacturing Systems 1997-16(4):239-248). This process consists of taking a CAD model of athree-dimensional structure of a bone implant, slicing the model intolayers, taking laminated sheets of scaffold material, seeding the layerswith cells or growth factors, and stacking them on top of each other.This process was designed for the purpose of constructing bone implants,not to provide a flexible process of creating various types of organs orbiologically/chemically integrated systems and thus has severaldisadvantages with respect to construction of tissue engineeringdevices. For example, the method is limited in materials since soft,gel-like materials cannot be used as scaffold layers. This is a problemsince many biological parts are soft or wet. Also, each layer of thescaffold is made with one type of sheet material. Thus, it is difficultto have two or more different materials within the same layer level.Accuracy and recalibration is an issue as well since the scaffold layersare moved from station to station. Thus, although a simple scaffold canbe created by this method, a complex scaffold with controlledconcentration gradients is difficult, if not impossible, to create. Thisis a serious disadvantage since cells are very responsive to even theslightest differences in concentration gradients.

Yan and Xiong, et al. have disclosed the concept of using layeredmanufacturing methods and multi-nozzle deposition extrusion and jettingprocesses (Xiong et al. Scripta Materialia 2002 46:771-776; Yan et al.Materials Letters 2003 57:2623-2628). Their process includes sprayingand deposition of heterogeneous materials with different materialproperties. However, full CAD integration is not described. Nor is thereany description of the ability to import an assembly of multiple STLfiles for printing a complex, heterogeneous, three-dimensionalstructure. This is a vital design component when building complex partssuch as biomimetic parts where MRI or CT data is incorporated into thefinal design, or integrating both biomimetic parts and non-biomimeticparts into a novel scaffold design.

A SFF method using a syringe-based system to dispense liquids, which iswell suited for working with biological materials such as cells andhydrogels has also been described (Landers et al. Macromol Mater Eng2000 282:17-21; Landers et al. Kunststoffe/plast Europe 2001 91(12):21-23; Landers et al. Biomaterials 2002 23:4437-4447). The primary focusof this method is the building of scaffolds and seeding the scaffold.The deposition system used is a single nozzle device that requirescartridge swapping to change materials. This is not a very practicalsystem for depositing multiple, heterogeneous materials such asdifferent types of cells and growth factors all within the same scaffoldlayer. Further, it is difficult to take a multiple part assembly of STLfiles and print out a complex, biologically designed scaffold utilizingthis method. Thus, there are limitations in this method with respect tothe CAD integration aspect as well.

A syringe-based system for the extrusion of hybrid polymer materialsembedded with glass using layered SFF manufacturing has also beendescribed (Calvert et al. Materials Science and Engineering 1998C6:167-174). This system also uses a single nozzle and does notincorporate CAD, thus being limited to simple designs written inMicrosoft Qbasic. This system is not capable of creating heterogeneousdesigns within a single layer. Thus, this system is sufficient forcreating basic scaffolds, but falls short of being able to createintricate scaffolds containing both biomimetic and non-biomimeticfeatures.

A microsyringe deposition system has also been described (Vozzi et al.Materials Science and Engineering 2002 C20:43-47; Vozzi et al.Biomaterials 2003 24:2533-2540). This system utilizes a single-nozzledeposition system which has fine resolution, but is limited because ofthe glass capillary used for deposition. The glass capillary limits therange of viscosities that are usable due to pressure limits, and alsolimits the types of solutions and suspensions that can be deposited dueto clogging. The device is envisaged for integration with CAD, butwhether their working device could actually utilize STL files isunclear. Also, the single nozzle system makes multi-material,heterogeneous deposition difficult.

A single-nozzle, automated extrusion system that can utilize basic STLfiles has been described as well (Ang et al. Materials Science andEngineering 2002; C20:35-42). It is unclear whether this system can beutilized to produce multi-part, heterogeneous STL files. This singlenozzle process also makes constructing complex parts very difficult, andlimits the diverse range of materials available for deposition.

Mironov, et al. discuss the basic principles of organ printing, whichinvolves direct deposition of cells using a multi-nozzle printing system(Mironov et al. TRENDS in Biotechnology 2003 21(4):157-161).A generalbasic concept of organ printing involving CAD in the preprocessing stageincorporating either patient specific MRI/CT data or artificial computergenerated biomimetic constructs is set forth. However, there is nomention of the value of CAD beyond simply imitating biology. Inaddition, there are serious limitations with their disclosedmulti-nozzle system which uses the same type of syringe thus limitingthe types of materials that can be deposited. In order to build good3-dimensional structures, relatively viscous solutions are required,which means high pressure. High pressure, however, may not be compatiblewith cells. High pressure systems handling viscous materials have theproblem of not being able to deposit fine structures with fineconcentration gradients. Finally, there is a flaw in the processdescribed in this reference because they do not consider the fact thatCAD programs do not have heterogeneous material capabilities. Thus, theyneglect a non-trivial and difficult step by assuming that they cancreate a multi-material part in CAD and print it out using multiplenozzles, which is not necessarily the case.

U.S. Pat. No. 6,139,574 (Vacanti, et al. Oct. 31, 2000) disclosesvascularized tissue regeneration matrices formed by SFF techniques. Useof CAD and SFF techniques for the creation of tissue scaffolds ismentioned. Further, they mention the possibility of using multipleprintheads and different kinds of SFF techniques. However, there is nodescription of direct cell deposition. The reason for this is that themethod described is not biologically friendly to cells. Thus, thedescribed method requires depositing the scaffold material and bioactivematerials first to create the scaffold, and then seeding the cellsexternally relying upon cell migration to populate the scaffold.Further, the inkjet printing method described by Vacanti createsproblems for cellular deposition unless significant steps are taken toprotect cells from shear stresses that would tear the cell apart.

U.S. Pat. No. 6,143,293 (Weiss, et al. Nov. 7, 2000) discloses assembledscaffolds for three dimensional cell culturing and tissue generation.The method used is primarily oriented towards building hard, bone-typescaffold structures and creation of soft, gel-like scaffolds using thismethod may be difficult. Further heterogeneous capabilities are limitedto materials that can be added on top of the layer, but not within thelayer itself. The method of Weiss et al. also utilizes prefabricatedlayers thus necessitating an assembly stage, which then requires extrasteps to calibrate, align, and affix the layers. Means for affixing thelayers such as barbs, or other mechanical affixing means is adisadvantage that may result in later complications due to wear, boneremodeling, or incompatibilities in material properties. The methoddescribed by Weiss et al. thus lacks versatility and flexibility.

U.S. Pat. No. 6,027,744 and U.S. Pat. No. 6,171,610 (Vacanti, et al.Feb. 22, 2000 and Vacanti, et al. Jan. 9, 2001) describe guideddevelopment and support of hydrogel-cell compositions. Methods describedtherein use hydrogel-cell compositions as a means of tissue scaffoldconstruction and rely upon injecting the hydrogel-cell material into thetissue scaffold. The described method does not include layeredfabrication methods or CAD. Direct deposition of cells into a scaffoldwhile constructing the scaffold is also not mentioned.

U.S. Pat. No. 6,176,874 (Vacanti, et al. Jan. 23, 2001) disclosesvascularized tissue regeneration matrices formed by SFF fabricationtechniques. Again, the described method does not include layeredfabrication methods or CAD nor direct deposition of cells into ascaffold while constructing the scaffold.

U.S. Pat. No. 6,454,811 (Sherwood, et al. Sep. 24, 2002) disclosescomposites for tissue regeneration and methods of manufacture thereof.This method primarily focuses on three-dimensional printing (3DP) fortissue engineering. Although there is mention that other methods of SFFcould be used, no explicit details are provided. Further, there is nomention of CAD integration, heterogeneous materials, multi-partassemblies, and multi-nozzle printing within a CAD environment. Inaddition, the majority of the SFF methods described are not biologicallyfriendly for direct cell deposition. For example, stereo-lithography,selective laser sintering, and fused deposition modeling cannot directlydeposit cells due to heating and toxicity issues which will kill cells.Ballistic particle manufacturing also has problems due to shear stressesthat can damage cells, which are very sensitive and require low pressureor a protective method to reduce the shear stresses experienced by thecell. The described 3DP method is also unable to directly seed cellsinto the interior of the part that is being constructed. This processalso requires post-processing in which powder, which functions both asthe part and the support material, has to be removed after finishing theprinting process. Thus, while this method can be used to create porousstructures, the pores are filled with powder during the printing stage.It is only after printing has been completed that the powder is removedto open up the pores. Thus, cells cannot be directly printed at specificlocations inside the part. Instead, cells must migrate from the outsideof the scaffold, into the interior of the scaffold. This is a seriousdisadvantage when trying to create reproducibility between histotypic ororgan culture samples. Finer features require additionalpost-processing, such as salt-leaching, which again makes directcellular deposition impossible.

U.S. Pat. No. 6,547,994 (Monkhouse, et al. Apr. 15, 2003) describes aprocess for rapid prototyping and manufacturing of primarily drugdelivery systems with multiple gradients, primarily involving a 3DPtechnique. These 3DP techniques share the same shortcomings as describedfor U.S. Pat. No. 6,454,811.

U.S. Pat. No. 6,623,687 (Gervasi, et al. Sep. 23, 2003) describes aprocess for producing three-dimensional objects by constructing aninterlaced lattice construct using SFF to create a functional gradientmaterial. There is brief mention of the possibility of using thistechnique to create tissue engineered constructs such as veins andarteries. However, there is no demonstration of use in this application.

SUMMARY OF THE INVENTION

An aspect of the present invention is related to a method for productionof complex components or parts and devices used, for example, as tissuescaffolds and constructs. The method of the present invention-integratescomputer-aided design; Boolean, scaling, mirroring, smoothing, and/orother modifying operations; MRI/CT and other patient specific dataimport capabilities; heterogeneous material and multi-part assemblycapabilities; biomimetic and non-biomimetic design capabilities;multiple types of nozzles capable of handling a wide range of materials;multiple modes of nozzle operation such as droplet deposition,extrusion, and spraying; and/or a biologically friendly design capableof direct cell deposition. Components and devices produced in accordancewith the method of the present invention are useful, for example, intissue engineering, organ/cell printing, tissue scaffolds, tissuecultures, biochips, biosensors, and cytotoxicity test samples

Another aspect of the present invention is related to an apparatus orsystem for production of devices requiring the integration of differentbiological elements such as an artificial organ and/or devices requiringintegration of biological and artificial elements. The apparatuscomprises a multi-nozzle biopolymer deposition system capable ofextruding biopolymer solutions and living cells for freeformconstruction of three-dimensional tissue scaffolds. The apparatus can,simultaneously with the scaffold construction, deposit controlled amountof cells, growth factors, or other bioactive compounds with precisespatial position to form well-defined cell-seeded tissue constructs. Theapparatus or system also enables the fabrication of larger or thickertissue constructs with complex layouts, such as vascular networks.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 provides a flow diagram of a system configuration of amulti-nozzle biopolymer deposition apparatus of the present invention.

FIG. 2 provides a photograph of an exemplary multi-nozzle biopolymerdeposition apparatus of the present invention.

FIGS. 3 a through 3 c show the creation of a multi-layered scaffold inaccordance with the present invention to design a porous channelstructure as a CAD model (FIG. 3 a), and use of patient specific MRI/CTdata to design the required anatomical replacement scaffold model (FIG.3 b), and further use of Boolean operation to produce a porous,interconnected replacement scaffold as the finished implant (FIG. 3 c).

FIGS. 4 a through 4 d show the creation of a triple-layered scaffoldproduced in accordance with the same techniques as set forth in FIG. 4 athrough 4 c. FIG. 4 a shows the initial CAD model, followed by creationof porous outer layer (FIG. 4 b), and subsequent creation of a compactmiddle layer (FIG. 4 c). FIG. 4 d shows a cutaway view of the finishedtriple layer implant with porous inner layer.

FIGS. 5 a through 5 c show creation of an exemplary replacement scaffoldin accordance with the present invention wherein CAD-MRI/CT and Booleanoperations are combined to introduce a pre-designed structural featureinto the replacement scaffold. In this example, a vascular tree wascreated in CAD that followed a basic pathway analogous toartery-arteriole-capillary-venule-vein (FIG. 5 a). Using scaling andBoolean operations a portion of an implant was quickly “vascularized”(FIG. 5 b-c). CATE to was used to create channels in an implant. FIG. 5a shows the vascular tree created in CAD. As shown in FIG. 5 b, the CADdesign was imported and rescaled as STL files in Geomagic (a reverseengineering software). FIG. 5 c shows the scaffold structure afterBoolean operation.

FIG. 6 a through 6 d shows creation of a tissue scaffold designed withbuilt-in functional components that are non-biological in nature. Inthis example, a drug chamber was designed in CAD (FIG. 6 a). Thisfeature was then added to the scaffold. FIG. 6 b shows the scaffoldbefore subtraction of the chamber insert from the scaffold and FIG. 6 cshows the scaffold following chamber insertion. An existing vasculartree design was also incorporated into the scaffold as shown in thecutaway of FIG. 6 d, which depicts both the chamber and channels of thisintegrated delivery system.

FIG. 7 a through 7 c shows various three-dimensional hydrogel scaffoldsproduced with the methods and apparatus of the present invention. FIG. 7a and b show a three-dimensional hydrogel scaffold comprising 10 layersof calcium alginate, extruded as a 3% (w/v) alginate filament within across-linking solution (FIG. 7 a) and simple alginate geometricalpattern (FIG. 7 b). By varying the size of the syringe nozzle, thepressures used, and the type of deposition method (extrusion), alginatefilaments within the 30-40 micron range (FIG. 7 c) for 3% (w/v) sodiumalginate solution with a 5% (w/v) calcium chloride cross-linkingsolution, at 0.50 psi were produced.

FIG. 8 shows results of a cell deposition/extrusion study conductedusing a hydrogel produced with the apparatus and method of the presentinvention. For these experiments, the hydrogel was produced fromalginate hydrogel mixed with human endothelial cells at a cellconcentration 750,000 cells/ml with sodium alginate: 1.5% (w/v), nozzle:EFD 200 μm at pressure: 2 psi, deposition speed: 10 mm/s, and calciumchloride: 5% (w/v).

FIG. 9 shows a hydrogel from similar experiments to those depicted inFIG. 8 wherein multi-nozzle heterogeneous deposition of differentmaterials was used to produce the hydrogel. As shown in FIG. 9, avariety of materials were simultaneously deposited, containing differentalginate solutions at concentrations in the range of 0.1%-0.4% (w/v),with the lighter gray material (indicated by A) also containing analginate microspheres suspension and a darker gray (indicated by B)chitosan hydrogel.

DETAILED DESCRIPTION OF THE INVENTION

There is a vital demand for improving tissue engineering techniques.Organ transplantation and the need for donors is a problem within thiscountry. With increasing life expectancy and a growing aging population,the need for organ transplantation is ever greater. However, there iscurrently no process capable of creating seeded tissue scaffolds forimplantation with the complexity of organs.

In addition to organ transplantation, there is a need for improvedmethods of cytotoxicity testing for the pharmaceutical, cosmetics, andfood industries. This would help resolve the ethical problem of animaltesting, and in a more practical sense, also help reduce cost as well.Creating sophisticated, three-dimensional organ cultures could replacesimple two-dimensional cultures that are not necessarily reliable indetermining cytotoxicity. In addition, organ culture, organotypiccultures, and histotypic cultures are not easily standardizable. Byhaving an automated manufacturing process for creating artificial organcultures, there would be standardization, and the ability to compareexperimental results between different organ cultures.

In addition to the need for organs and better methods of cytotoxicitytesting, there are also the developing areas of biochips,bioelectronics, biosensors, bionics, cybernetics, artificial organs, andbioactive tissue scaffolds. These devices require the integration ofboth biological and artificial elements. Any device that could improvethis integration would be a significant advance to those fields.

The present invention provides methods and systems for producing devicesthat can satisfy the above described need.

FIG. 1 shows a flow diagram of a system configuration of a multi-nozzlebiopolymer deposition apparatus of the present invention.

As shown in FIG. 1, in the methods and apparatus of the presentinvention, a data processing system processes a designed scaffold modeland converts it into a layered process tool path.

The apparatus further comprises a motion control system driven by thislayered manufacturing technique.

The material delivery system for the apparatus comprises multiplenozzles of different types and sizes, thus enabling the deposition ofspecified hydrogels with different viscosities for constructingthree-dimensional tissue scaffolds. In a preferred embodiment, fourtypes of nozzles are used in the system or apparatus. Examples include,but are not limited to, solenoid-actuated nozzles, piezoelectric glasscapillary nozzles, pneumatic syringe nozzles, and spray nozzles, withsize ranges varying from about 30 μm to about 500 μm. The system cancontinuously extrude hydrogels, or form hydrogels in single dropletswith picoliter volumes. The multiple nozzle capability allows forsimultaneous deposition of cells, growth factors, and scaffoldmaterials, thus enabling the construction of heterogeneous scaffoldswith bioactive compounds, or establishing functional gradient scaffoldswith different mechanical/structural properties in different scaffoldregions.

FIG. 2 provides a photograph an exemplary multi-nozzle biopolymerdeposition apparatus of the present invention.

Step one of the methods and apparatus of the present invention compriseintegrated computer-aided design capabilities. The methods and system ofthe present invention may further comprise as step two MRI/CT and otherpatient specific data import capabilities thereby allowing adaptation ofeach manufactured part for each person's unique geometry.

CAD provides the user with the basic ability to create both biomimeticand non-biomimetic designs and features. These can be created by thedeposition of electrically conductive materials, magnetic materials,thermally conductive materials, mechanically active materials, bioactiveelements, genetic materials and vectors, and so forth.

For example, as shown in FIG. 3 a through 3 c, CAD can be used to designa porous channel structure as a CAD model (FIG. 3 a). Patient specificMRI/CT data is then used to design the required anatomical replacementscaffold model (FIG. 3 b). Boolean operation is then used to produce aporous, interconnected replacement scaffold (FIG. 3 c).

As shown in FIG. 4 a through 4 d, using these same simple methodologiesof the present invention, a triple-layered structure with a porous outerlayer, a compact middle layer, and a porous inner layer is created.

Further, as shown in FIG. 5 a through 5 c, CAD-MRI/CT and Booleanoperations can be combined in accordance with the present invention tointroduce a pre-designed structure feature into a scaffold such asreplacement scaffold. For example, as shown in FIG. 5, a vascular treecan be created in CAD that follows a basic pathway analogous toartery-arteriole-capillary-venule-vein (FIG. 5 a). Using scaling andBoolean operations a portion of an implant can then be quickly“vascularized”.

With power of the computer-aided tissue engineering, tissue scaffoldscan be designed with built-in functional components that arenon-biological in nature. For example, growth factors and drugs playvital roles in tissue engineering. Accordingly, a drug chamber forstorage and delivery of such agents can be designed in CAD (FIG. 6 a)and then added as a feature to the scaffold (FIG. 6 b-d). As shown inFIG. 6 d, an existing vascular tree design was also incorporated intothe scaffold. Other non-biomimetic features such as inlet and outletports and attachment interfaces can be added in similar fashion thusallowing for quick assembly of sophisticated scaffolds using the methodsand apparatus of the present invention.

As shown by these exemplary scaffold embodiments of FIGS. 3 through 6,following CAD design, the methods and the apparatus of the presentinvention may further comprise Boolean, scaling, smoothing, mirroring,and/or other modifying operations which can be used to design andincorporate biomimetic and non-biomimetic features. Thus, step two ofthe method of the present invention may comprise use of Boolean,scaling, smoothing, mirroring, and/or other operations to modify thedesign. A combination of these types of operations adds greatversatility to the design process. Examples of Boolean operations areaddition and subtraction operations used to create voids or parts thatfill voids, conforming to their geometry and anatomical shape. Booleanadditive and subtractive capabilities also allows the operator to createa set of standardized or “stock” parts and features that can be reusedand recycled in multiple designs. While such operations can be skippedwhen creating relatively simple devices, when building complex devices,use of one or more of these operations are extremely useful and expandthe design capabilities immensely.

The ability to create both biomimetic and non-biomimetic featurespermits one of skill in the art to produce a device such as a scaffoldcomprising, for example, electrically conductive materials, magneticmaterials, thermally conductive materials and mechanically activematerials as well as bioactive elements, genetic materials and vectors.Examples of non-biomimetic features which can be incorporated intodevices produced by this method and apparatus include, but are notlimited to, electrically conductive material deposited, extruded, laiddown, in order to create wires, circuits, biochips, etc., mechanicallyactive elements such as microvalves or miniature pumps and actuatorsbuilt or incorporated into the finished part to create a microfluidicdevice, biochip, biosensor, a specialized component or prefabricatedelement, such as an integrated circuit, valve, or piezoelectric elementadded through an automated device that is designed to place it into thepart being constructed, a tip or other device used to direct electricalstimulation or to apply a charge to direct ion flow, stimulate musclecontraction, cause changes to the cell nucleus, and a tip or device witha voltage potential between the tip and substrate in order to depositmaterial onto the substrate via a process similar to electrospinning.

The methods and apparatus of the present invention may further comprisemulti-nozzle capability thus permitting deposit of multiple materialswithin the same layer. Different types of specialized nozzles provideversatility to the process of the present invention to handle a widerange of materials such as suspensions, gels, and a wide range ofviscosities ranging from water to viscous glues. Further, multiple modesof nozzle operation can be provided including, but not limited to,droplet deposition, extrusion, and spraying operations, thereby allowingcontrol of different levels of resolution and material properties. Forexample, fine microdroplet deposition may be used for adding minuteconcentrations of biological factors, and extrusion may be used tocreate a strong scaffold structure.

Accordingly, in step three of the method and apparatus of the presentinvention, interface software is used to convert the CAD designed deviceof step 1 or steps 1 and 2 into a heterogeneous material and multi-partassembly model that can be used for multi-nozzle printing. This is animportant step of the method as it allows the user to take amulti-material CAD design and print it out using multiple nozzles.

The methods and apparatus of the present invention may further compriseheterogeneous material and multi-part assembly capabilities so that instep four of the method of the present invention the design is printedout using the different, specialized nozzles. This step also vastlyincreases the repertoire of materials that are usable, and thus expandsthe type of designs that can be built, ranging for example frombiological to non-biological scaffolds, parts, devices, etc. The nozzlesare also capable of handling multiple modes of nozzle operation such asdroplet deposition, extrusion, and spraying, thus allowing for controlof different levels of resolution and material properties. A veryimportant ability of the process of the present invention is directseeding of a part without having to rely upon cellular ingrowth ormigration to reach the interior of the part due to the precisiondeposition of the seeding materials.

Exemplary hydrogels depicting versatility achieved through use of theapparatus and methods of the present invention are depicted in FIGS. 7through 9.

As can be seen, using the method and system of the present invention acomplex, multi-material CAD design can be printed out using multiplenozzles. This is a significant advantage of the methods and system ofthe present invention that cannot be accomplished using CAD and solidmodeling programs incapable of modeling heterogeneous parts withdifferent material properties.

The methods and system of the present invention utilize biologicallyfriendly design capabilities so that cells and/or biological factors canbe deposited directly within and/or onto the scaffold.

Direct cell deposition is a very important capability that is oftenoverlooked, and is a significant difference from prior method. Many havenot considered and have failed to see its importance in creating organcultures with reproducible samples. Being able to create organ,organotypic, or histotypic cultures by using the exact same assemblyprocedures with reliability will revolutionize the pharmacological,food, and cosmetics testing industries. Organ cultures will be a muchmore reliable indicator of true drug behavior in vivo than currentcytotoxicity testing methods. This will reduce greatly the cost of drugtesting and manufacturing thereby lowering the cost of medication andhealth care costs. It will also reduce the amount of animal testing thatis done as well. Organ cultures that can be compared with each other canprovide insight into other fields as well such as molecular and cellbiology, genetics, and tissue engineering.

In addition, direct cell deposition creates tissue structures that aremore histologically accurate. That is, cells are placed next to othercells that they are normally next to within an in vivo environment. Theycan also be deposited in their proper location and ratios. This has hugesignificance, since cells do not exist alone, but rather, rely upon eachother for proper function and maintenance. Cell-cell signaling andcommunication either from direct contact or paracrine signaling is vitalfor proper cellular behavior, differentiation, and proliferation. Also,the extracellular matrix produced by cells is vital for cellularfunction.

CAD integration capabilities of the methods and system of the presentinvention allow for the incorporation of non-biological elements intothe design including, but not limited to, drug chambers, access ports,biotelemetry for doctors and biosensors. These non-biomimetic featurescan be created in CAD, as shown for example in FIG. 6, saved as a part,and then reused over and over, being incorporated into many differentdesigns. Thus, integration of CAD in the process of the presentinvention enables not just the building of devices that imitate nature,but also the building of devices that can assist or go beyond nature.

The multi-nozzle system with different types of nozzles used in themethods and system of the present invention permits layering of multiplecomponents into the device. Nozzles could be different in sizes,diameters, tip types, or in different operational mechanisms, such assolenoid, piezoelectric, and pneumatic air-regulated nozzles. Forexample, one nozzle can be specialized for cell deposition, whileanother nozzle can be optimized for depositing viscous structuralmembers.

As shown in FIG. 1, implementation of the method and apparatus of systemof the present invention involves use of a automatic control system,including a computer with software for CAD and medical imaging processability to perform Boolean operations, mirroring, smoothing andthree-dimensional reconstruction from MRI/CT to tissue replacementmodel; a XYZ positioning system inclusive of motion controllers andmotors with an XYZ axis; a multi-nozzle system preferably comprising atleast a microdroplet/fine resolution nozzle and a highviscosity/extrusion nozzle, as well as nozzle controllers, fluidreservoirs, and filters; and a pressure system inclusive of pressuretanks, pressure chambers, compressor/vacuum pumps, pressure sensors, andregulators.

In addition to the above-preferred embodiment, alternative variations ofthe methods and system are possible.

In one embodiment, a device can be constructed by either moving theplatform that the device is being constructed on, or by moving the printhead, or by a combination of both through controlling the XYZpositioning system.

Alternative nozzles or other devices can also be used to provide variouscoating or washings. For example, biochemical surface treatment can beperformed via a nozzle or other device, for example, by washing,spraying, etc., simultaneously with the deposition of scaffoldingmaterials through other nozzle(s). A coating material can also besprayed on the device simultaneously with the deposition of thescaffolding material through other nozzle(s), or a coating material canbe sprayed onto a single layer or layers of the device. An additionalnozzle or other device can also be used to add a support material ortemporary scaffolding that can later be removed from the finished part,for example, a reversible gel, simultaneously with the deposition of thescaffolding material through other nozzle(s). An additional nozzle canalso be used to deposit drops-on-demand drugs, or lines of powder orsolid materials, simultaneously with the deposition of the scaffoldingmaterial through other nozzle(s). An additional nozzle can also be usedto deliver energy to speed the scaffold solidification, for example, totransmit a UV or Laser through an optical fiber simultaneously with thedeposition of the scaffolding material through other nozzle(s). Anadditional nozzle can also be used to deposit, extrude or patternelectrically conductive materials within the scaffold simultaneouslywith the deposition of the scaffolding material through other nozzle(s)to generate wired, circuited, or biochip embedded scaffolds. Anadditional nozzle can also be used to transmit/deposit fluidsimultaneously with the deposition of the scaffolding material throughother nozzle(s). The fluid can be applied to the part for variouspurposes such as cooling, sterilization, cross-linking, solidification,etc. When using fluids, the part can be created in a container capableof holding fluids (a dish, a culture plate well, a fluid tank, etc.).The fluid level can be incremented by the same height as the layer beingformed, thus raising the fluid level, or, the height level of the partcould be decremented, thus lowering it into the fluid.

In-situ sterilization can be incorporated into the method of the presentinvention as well and can be done in several ways. In one embodiment, asolution with antibiotics such as penicillin is added through themulti-nozzle deposition system while making the device or afterwards. Inanother embodiment, a sterilizing solution (non-antibiotic) is added toone of the nozzles for deposition or post-sterilization. An alternativedevice to a nozzle, as part of the multi-nozzle deposition system, canalso be used such as device emitting ultraviolet radiation, heat, orgamma irradiation.

The method and system of the present invention may further compriseimaging capabilities such as an ultrasonic transducer that can be usedfor imaging the device while it is being built. Alternatively, anoptical imaging apparatus, such as a microscope, can be used to providevisual information, or provide data for feedback in a closed-loopcontrol system. An optical imaging apparatus can also be used to monitorfluorescence and reporter gene activities which can be used for cellcounting, calculating the presence of proteins, DNA expression,metabolic activity, cell migration, etc. Atomic force microscopy andscanning tunneling microscopy, can also provide information about thedevice at nanoscale resolution.

Sensing devices can also be incorporated into the methods and system toprovide relevant data such as temperature, or to monitor chemicalreactions, chemicals released during production, and/or mechanicalforces such as shear during production. Such sensing devices can be usedto create a feedback control mechanism to regulate the processparameters in an automated fashion.

Mechanical agitation or stimulation devices such as ultrasonic,subsonic, and/or sonic transducers can also be incorporated into themethods and system to stimulate the device mechanically duringconstruction. The stimulations will help to improve the devicestructural properties, for example, homogeneity of the cell andscaffolding material distribution.

Further, mechanical devices can be used to stamp, press, adjust, move,cut, and trim the device during construction.

Thus, the methods and system of the present invention comprise multiplesteps and elements that, when combined, create a very powerful androbust method and system for manufacturing devices within the biologicalfield, as well as other fields outside of biology. For example, devicesproduced in accordance with the methods and system described can be usedas reproducible organ cultures. Such organ cultures are expected to bevery useful in cytotoxicity testing (i.e. food, drug, and cosmeticsindustry), and other fields such as the study of tissue engineering,molecular biology, and cell biology. The greatly improvedreproducibility between samples of organ cultures is achieved using themethod and system of the present invention by directly depositing cellsand biological factors while building the device. If one relies uponinward cell migration into the completed tissue scaffold or construct,there is no consistency in the location, distribution, or ratios of thecells. With the automated methods and system of the present invention,reproducibility between heterogeneous, 3-dimensional organ cultures isachieved. The cells, biological factors, and scaffold materials can beprecisely deposited in the same locations, in the same manner, and withthe same concentrations. This results in organ cultures that areassembled in the exact same manner, and so can be used to makecomparisons between different organ culture test samples. In addition,direct cell deposition using the methods and system of the presentinvention permits creation of tissue engineering devices that are morenatural histologically. Cells can be placed next to other cells in aspatial pattern and orientation similar to their in vivo environment.They can also be deposited in their proper ratios, thus resulting in amuch better tissue scaffold than produced currently.

Additional ramifications of the methods and system of the presentinvention include scaling up and mass production. The introduction ofcomputer-aided design and automated assembly allows for mass productionof tissue samples, cultures, and organs, that can be used forpharmacological testing, for example, in testing hundreds of variationsof cancer-fighting drugs. Automation can lead to not only increaseddesign complexity, but also increased speed, consistency, and qualitycontrol.

The following nonlimiting examples are provided to further illustratethe present invention.

EXAMPLES

The apparatus depicted in FIG. 2 was used to construct variousthree-dimensional biopolymer based tissue scaffolds.

For example, shown in FIG. 7 are, several three-dimensional hydrogelscaffolds (10 layers, calcium alginate), extruded as a 3% (w/v) alginatefilament within a cross-linking solution (FIG. 3 a) and simple alginategeometrical pattern (FIG. 3 b). Depending upon the size of the syringenozzle, the pressures used, and the type of deposition method(extrusion), alginate filaments within the 30-40 micron range (FIG. 3 c)were created for 3% (w/v) sodium alginate solution with a 5% (w/v)calcium chloride cross-linking solution, at 0.50 psi.

Further, cell deposition/extrusion studies were conducted by extrudingalginate hydrogel mixed with human endothelial cells at a cellconcentration: 750,000 cells/ml with sodium alginate: 1.5% (w/v),nozzle: EFD 200 μm at pressure: 2 psi, deposition speed: 10 mm/s, andcalcium chloride: 50 (w/v) (see FIG. 4). Experiments were also preformedtesting multi-nozzle heterogeneous deposition of different materials. Asshown in FIG. 5, a variety of materials were simultaneously deposited,containing different alginate solutions at concentrations in the rangeof 0.1%-0.4% (w/v), with the light gray material designated by A alsocontaining an alginate microspheres suspension and a darker graychitosan hydrogel designated as B.

1. A material delivery system comprising: a plurality of nozzles; andone or more controllers adapted and configured to control the pluralityof nozzles to simultaneously deposit heterogeneous materials includingone or more cells to manufacture a part or device.
 2. The materialdelivery system of claim 1, further comprising: a data processing systemadapted and configured to convert a scaffold model into a layered toolpath.
 3. The material delivery system of claim 2, further comprising: amotion control system adapted and configured to implement the layeredtool path.
 4. The material delivery system of claim 2, wherein the dataprocessing system is adapted and configured to convert a CAD design intoa heterogeneous material and multi-part assembly model that can be usedfor multi-nozzle printing.
 5. The material delivery system of claim 4,wherein the one or more controllers are adapted and configured toutilize one or more techniques selected from the group consisting of:Boolean, scaling, smoothing, and mirroring to modify the CAD designprior to conversion into the material and multi-part assembly model. 6.The material delivery system of claim 4, wherein the CAD design isderived from one or more selected from the group consisting of: magneticresonance imaging (MRI) data, computed tomography (CT) data, and otherpatient-specific data.
 7. The material delivery system of claim 1,wherein the part or device includes a biomimetic or non-biomimeticfeature.
 8. The material delivery system of claim 1, wherein the part ordevice is a tissue scaffold.
 9. The material delivery system of claim 8,wherein the tissue scaffold includes directly-deposited cells.
 10. Thematerial delivery system of claim 9, wherein the tissue scaffoldincludes directly-deposited biological factors.
 11. The materialdelivery system of claim 8, wherein the tissue scaffold is one or moreselected from the group consisting of: a biochip tissue scaffold, abiosensor tissue scaffold, a bionic tissue scaffold, a cybernetic tissuescaffold, a mechanoactive tissue scaffold, and a bioactive tissuescaffold.
 12. The material delivery system of claim 1, wherein the partor device is an artificial organ.
 13. The material delivery system ofclaim 1, wherein the part or device is an artificial vasculature orchannel system.
 14. The material delivery system of claim 1, wherein thepart or device is a cytotoxicity testing sample.
 15. The materialdelivery system of claim 1, wherein the part or device is a drugdelivery device.
 16. The material delivery system of claim 1, whereinthe plurality of nozzles are of different types and sizes.
 17. A methodcomprising: simultaneously depositing heterogeneous materials includingone more cells using a plurality of nozzles.
 18. The method of claim 17,further comprising: converting a CAD design into a three-dimensionalheterogeneous material model in a format suitable for three-dimensional,multi-nozzle printing.
 19. The method of claim 18, wherein the CADdesign comprises at least one biomimetic feature and at least onenon-biomimetic feature.
 20. The method of claim 18, wherein the CADdesign is derived from one or more selected from the group consistingof: magnetic resonance imaging (MRI) data, computed tomography (CT)data, and other patient-specific data.